Autonomous Driving System in Heterogeneous SD Map and HD Map Environment and Method for Operating Autonomous Driving System

ABSTRACT

An embodiment is an autonomous driving system in a heterogeneous SD map and precise map environment, which can provide an autonomous driving service using a heterogeneous SD map having properties that do not match those of a precise map. The autonomous driving system in a heterogeneous SD map and HD map environment includes a service platform and an autonomous vehicle, and the operation and operation method of the system depend on whether a user can input TBT in addition to a start point and a destination.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of Korean Patent Application No.10-2022-0028862, filed on Mar. 7, 2022, which is hereby incorporated byreference in its entirety.

TECHNICAL FIELD

The present invention relates to an autonomous driving system and amethod for operating the same.

BACKGROUND

General autonomous driving can be achieved in such a manner that anoccupant sets a driving route by directly inputting a starting point(hereinafter referred to as a start point) and a destination into anautonomous vehicle and the autonomous vehicle travels along the setdriving route upon determining that it is ready to drive. There arevarious methods and means for inputting a start point and a destination.For example, it is possible to input a start point and a destinationinto an autonomous vehicle by touching and selecting the start point andthe destination through a menu provided by an internal panel of theautonomous vehicle or by inputting text or voice.

Recently, for example, technology for providing an autonomous vehicledriving service even in a service platform that provides a ride-hailingservice has been proposed. When a user wants to operate an autonomousvehicle using the service platform, the user accesses the serviceplatform, inputs a start point and a destination, and when a drivingroute is determined according to the input information, the serviceplatform manages the operation of the autonomous vehicle.

An autonomous driving system completes setting of a driving routethrough a process of setting a global path having a starting point and adestination as a start point and an end point of the route, and thensetting a local path corresponding to the global path based on a HD map.

Here, a global path is generated using a standard definition (SD) map(or SD map information) and is an approximate driving route of anautonomous vehicle from a start point to a destination, for example, aroute indicating roads on which the vehicle will travel as one line. Alocal path refers to a detailed route generated by applying a currentlocation and a moving direction of the vehicle to the global path usinga high definition (HD) map (or HD map information) and can be understoodas a route indicating the roads of the global path indicated by one lineas a plurality of lanes corresponding thereto.

If the properties of the SD map and the HD map used to set the globalpath and the local path are identical, there is no problem in matchingmap information. However, if a production entity of the SD map isdifferent from that of the HD map, or if the SD map and the HD map areproduced according to different production standards, then theproperties of the SD map become different from those of the HD map, andthus it is impossible to generate a local path matching a global path bymatching the SD map and the HD map through a simple method.

Even when map developers are different, if the developers share adatabase, it is possible to match the SD map and the HD map using theshared database. However, in reality, it is rare that differentdevelopers share a database, and thus an attempt to match the SD map andthe HD map in this way is ineffective.

Properties of a produced map include, for example, link/node shapeinformation (including coordinate system information), link/node IDinformation (primary key), road grade (normal, high-speed, urbanhigh-speed) information, road type (IC/JC, intersection, main linenon-separation) information, link traffic information (passing vehicletype and time-varying regulation) information, maximum speed limitinformation, link additional information (exclusive median bus lane,side bus lane, etc.), exclusive vehicle road information, U-turn pointinformation, bus time-varying regulation information, speed camerainformation, and protected area information.

Another method of matching a SD map and a HD map that have differentproperties and do not share a database is to compare internal propertiesof the SD map and the HD map to generate an appropriate matching table.However, since the composition of a map belongs to intellectualproperty, this method also has the disadvantage of requiring technicaland legal agreements between developers.

Both a SD map used to generate a global path and a HD map used togenerate a local path are embedded in an autonomous vehicle, and thereis no problem in matching the SD map and the HD map because the SD mapand the HD map have the same developer. For convenience of description,hereinafter, a SD map that matches a HD map is defined as amatching-based SD map, and a SD map that does not match a HD map isliterally described as a SD map.

The service platform also uses SD map information when a user enters astart point and a destination. However, it is common that a SD map usedin the service platform does not match a HD map embedded in anautonomous vehicle. Accordingly, the service platform must be able touse a matching-based SD map installed in an autonomous vehicle afterconsultation with the manufacturer of the autonomous vehicle to whichthe service platform intends to provide a server, but there aredisadvantages in that legal and economic problems such as the burden ofroyalties due to use of the matching-based SD map along with permissionto use need to be solved.

SUMMARY

The present invention relates to an autonomous driving system and amethod for operating the same which can be applied in an environment inwhich both a high definition (HD) map and a heterogeneous standarddefinition (SD) map (also referred to as ‘standard map’ or ‘navigationmap’), which has properties that do not one-to-one match those of the HDmap, are used.

An object of the present invention is to propose an autonomous drivingsystem in a heterogeneous SD map and HD map environment which canoperate autonomous driving services using a heterogeneous SD map havingproperties that do not match those of a HD map.

Another object of the present invention is to propose a method ofoperating an autonomous driving system in a heterogeneous SD map and HDmap environment which can operate autonomous driving services using aheterogeneous SD map having properties that do not match those of a HDmap.

It will be appreciated by persons skilled in the art that the objectsthat could be achieved with the present invention are not limited towhat has been particularly described hereinabove and the above and otherobjects that the present invention could achieve will be more clearlyunderstood from the following detailed description.

To achieve these objects and other advantages and in accordance with thepurpose of the invention, as embodied and broadly described herein, anautonomous driving system in a heterogeneous SD map and HD mapenvironment includes a service platform and an autonomous vehicle. Theservice platform transmits a start point and a destination input by auser through a (first) SD map to the autonomous vehicle. The autonomousvehicle generates a global path using the start point, the destination,and a matching-based (second) SD map stored therein according to apreset program and generates a local path matching the global path usinga HD map stored therein. Here, the global path includes a turn-by-turn(TBT) guidance between the start point and the destination, the SD mapis a map having properties that do not match properties of the HD map,and the matching-based SD map is a map having properties matching theproperties of the HD map.

In another aspect of the present invention, an autonomous driving systemin a heterogeneous SD map and HD map environment includes a serviceplatform and an autonomous vehicle. The service platform transmits astart point, a destination, and TBT input by a user to the autonomousvehicle using a SD map received from an external navigation system andprovided to the user. The autonomous vehicle generates a global pathusing the start point, the destination, the TBT, and a matching-based SDmap stored therein according to a preset program, generates a local pathusing the global path and a HD map stored therein, and travels along thelocal path. Here, the SD map is a map having properties that do notmatch properties of the HD map, the matching-based SD map is a maphaving properties matching the properties of the HD map, and theexternal navigation system is a navigation system different from anavigation system built in the autonomous vehicle.

In another aspect of the present invention, a method for operating anautonomous driving system in a heterogeneous SD map and HD mapenvironment includes inputting, by a user, a start point and adestination using a SD map provided by a service platform using a callsoftware (SW), transmitting, by the service platform, the start pointand the destination to an autonomous vehicle, the autonomous vehiclegenerating a global path using the start point, the destination, and amatching-based SD map stored in the autonomous vehicle according to apreset program and generating a local path using the generated globalpath and a HD map stored in the autonomous vehicle, and the autonomousvehicle traveling along the local path, wherein the global path includesTBT between the start point and the destination, the SD map is a maphaving properties that do not match properties of the HD map, and thematching-based SD map is a map having properties matching the propertiesof the HD map.

In another aspect of the present invention, a method for operating anautonomous driving system in a heterogeneous SD map and HD mapenvironment includes inputting, by a user, a start point and adestination using a SD map received by a service platform from anexternal navigation system and provided, the navigation systemgenerating TBT using the start point and the destination andtransmitting the start point, the destination, and the TBT to theservice platform, transmitting the start point, the destination, and theTBT from the service platform to an autonomous vehicle, the autonomousvehicle generating a global path using the start point, the destination,the TBT, and a matching-based SD map stored in the autonomous vehicleaccording to a preset program and generating a local path using theglobal path and a HD map stored in the autonomous vehicle, and theautonomous vehicle traveling along the local path, wherein the SD map isa map having properties that do not match properties of the HD map, thematching-based SD map is a map having properties matching properties ofthe HD map, and the external navigation system is a navigation systemdifferent from a navigation system built in the autonomous vehicle.

In another aspect of the present invention, a method for operating anautonomous driving system in a heterogeneous SD map and HD mapenvironment includes a user accessing a service platform through a callSW, determining whether a navigation system is able to generate TBT,generating, by an autonomous vehicle, a first global path including theTBT and a first local path matching the first global path upondetermining that the navigation system is not able to generate the TBT,generating the TBT by the navigation system and generating, by theautonomous vehicle, a second global path including the TBT and a secondlocal path matching the second global path upon determining that thenavigation system is able to generate the TBT, and operating theautonomous vehicle along the first local path or the second local path.

As described above, according to the autonomous driving system and themethod of operating the autonomous driving system in a heterogeneous SDmap and HD map environment according to the present invention, it ispossible to enable autonomous driving using a SD map instead of amatching-based SD map for autonomous driving through a SD map and HD mapinterface for autonomous driving, and to implement autonomous driving &mobility services embracing various service platform providers accordingto information added to the interface. In this case, the services can beimplemented even if mobility service providers such as buses or trainsthat simply show approximate driving information do not own a SD mapnavigation solution. In the case of a mobility service of showingdetailed driving information, mobility service providers can specializethe service as a unique navigation solution, and there is no need toperform a supplementary operation such as changing a SD map to a SD mapmatching a HD map to be used for a mobility service for autonomousdriving, or changing a HD map.

It will be appreciated by persons skilled in the art that the effectsthat can be achieved with the present invention are not limited to whathas been particularly described hereinabove and other advantages of thepresent invention will be more clearly understood from the followingdetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an embodiment of an autonomous driving system in aheterogeneous SD map and HD map environment according to an embodimentof the present invention;

FIG. 2 illustrates an embodiment of a method for operating theautonomous driving system in a heterogeneous SD map and HD mapenvironment shown in FIG. 1 ;

FIG. 3 illustrates another embodiment of an autonomous driving system ina heterogeneous SD map and HD map environment according to an embodimentof the present invention;

FIG. 4 illustrates an embodiment of a method for operating theautonomous driving system in a heterogeneous SD map and HD mapenvironment shown in FIG. 3 ; and

FIG. 5 illustrates another embodiment of a method for operating theautonomous driving system in a heterogeneous SD map and HD mapenvironment according to an embodiment of the present invention.

FIG. 6 illustrates an embodiment of traveling direction changeinformation.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

In order to fully understand the present invention, the operationaladvantages of the present invention, and the objects achieved by thepractice of the present invention, reference should be made to theaccompanying drawings describing exemplary embodiments of the presentinvention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail bydescribing embodiments of the present invention with reference to theaccompanying drawings. Like reference numerals in the figures indicatelike elements.

FIG. 1 illustrates an embodiment of an autonomous driving system in aheterogeneous SD map and HD map environment according to an embodimentof the present invention.

Referring to FIG. 1 , an autonomous driving system 100 in aheterogeneous SD map and HD map environment according to an embodimentof the present invention includes a service platform 110 and anautonomous vehicle 130.

In some embodiments, the service platform 110 includes a SD map 11 and aserver 112, and the SD map 11 (sometimes referred to as general map) isa SD map that does not match a HD map 132 (sometimes referred to as aprecise map) included in the autonomous vehicle 130 which will bedescribed later. For example, the SD map 111 is a map stored in theservice platform 110 as a heterogeneous SD map having propertiesdifferent from those of the HD map 133 and including informationsufficient for a user to input a start point and a destination. Sincethere are various operators of the service platform 110, the propertiesof the SD map 11 may also vary depending on the service platform 110.

The server 112 receives an input start point and a destination from auser who wants to use the autonomous vehicle 130 using information ofthe SD map 111, transfers the starting point and destination input bythe user to the autonomous vehicle 130, and reproduces drivinginformation received from the autonomous vehicle 130 as it is or byprocessing it in a way that can be recognized by the user. The serviceplatform 110 includes, for example, a service platform that provides aride-hailing service.

A call SW 150 enables a user to subscribe to the service platform 110 oraccess the service platform 110, input a start point and a destination,and monitor an actual driving situation of the autonomous vehicle 130.

An operation SW 170 accesses the service platform 110 to provide a routeto a destination to an emergency driver who is boarding the autonomousvehicle 130 or a remote operator who operates the operation of theautonomous vehicle 130 from the outside of the autonomous vehicle 130 orchecks/processes passengers getting on and off the autonomous vehicle130.

The call SW 150 and the operation SW 170 may be implemented in the formof an application and hardware of an active element and a passiveelement. In some embodiments, the calling SW 150 and the operation SW170 in the form of an application are mounted on the active and passiveelement and may also be implemented like a mobile terminal.

The autonomous vehicle 130 includes an interface 131, the HD map 133, amatching-based SD map 132 having properties matching the HD map, anavigation system 134, an autonomous driving function unit 135, and acontrol unit 136. The control unit 136 generates a global path using astart point and a destination received from the service platform 110 viathe interface 131, the matching-based SD map and the HD map 133according to a program stored in advance, and generates a local paththat matches the global path. In particular, the autonomous vehicle 130may generate route information including information on changes in atraveling direction on a specific road included in the local path andinclude the route information in the local path.

Here, the information on changes in a traveling direction includesvehicle moving or traveling direction change information (Turn By Turn(TBT)), such as traveling straight, turning left, turning right, andU-turn. The navigation system 134 may search for a global path and alocal path based on the matching-based SD map 132 that matches the HDmap 133 such as AutoEver local PC navigation and Blue Link.

The autonomous vehicle 130 controls the autonomous driving function unit135 to travel along a set local path in a situation in which it cantravel and transmits traveling direction change information and acurrent location of the autonomous vehicle 130, a time duration requiredto reach a destination, and TBT during traveling to the service platform110.

FIG. 2 shows an embodiment of a method for operating the autonomousdriving system in a heterogeneous SD map and HD map environment shown inFIG. 1 .

Referring to FIG. 2 , the method for operating the autonomous drivingsystem includes a step 210 in which, when a user accesses the serviceplatform 110 through the call SW 150, the service platform 110 providesthe SD map 111—that does not match the HD map 133 included in theautonomous vehicle 130—to the user through the call SW 150. The methodfurther includes a step 220 in which the user or a driver inputs a startpoint and a destination using the SD map information provided by theservice platform 110 using the call SW 150, a step 230 in which theservice platform 110 transmits the start point and the destination inputby the user to the autonomous vehicle 130, a step 240 in which theautonomous vehicle 130 generates a global path using the start point andthe destination received from the service platform 110 and thematching-based SD map 132 and the HD map 133 stored therein andgenerates a local path matching the global path, and a step 260 in whichthe autonomous vehicle 130 travels along the local path. The method mayfurther include a step 250 in which the autonomous vehicle 130 transmitsthe generated global path, a time duration required to reach thedestination, and current location information of the vehicle to theservice platform 110.

The method may further include a step 270 of transmitting the currentlocation information (host vehicle location), a time duration requiredto reach the destination (required time), and a TBT guidance of theautonomous vehicle 130 during traveling (260) to the service platform110.

In particular, the autonomous vehicle 130 may generate a TBT guidanceincluding traveling direction change information regarding a specificroad included in the local path and include the TBT guidance in thelocal path.

In the embodiment illustrated in FIGS. 1 and 2 , when the autonomousvehicle 130 generates a global path using the received start point anddestination, and then generates a local path using the global path, theautonomous vehicle 130 may arbitrarily set a TBT guidance on the localpath according to a preset program.

A method through which a user inputs a start point and a destination maybe implemented in various manners, such as a method through which theuser touches a corresponding area of a touchscreen and a method throughwhich the user expresses a start point and a destination by voice.

In the embodiment illustrated in FIGS. 1 and 2 , the SD map 11 stored inthe service platform 110 is delivered to the user, and the serviceplatform 110 simply transmits a start point and a destination input bythe user to the autonomous vehicle 130. In another embodiment which willbe described below, the service platform 110 uses a SD map provided by anavigation system separate from the service platform 110 rather than theSD map 111 stored in the service platform 110.

FIG. 3 illustrates of an autonomous driving system in a heterogeneous SDmap and HD map environment according to an embodiment of the presentinvention.

Referring to FIG. 3 , the autonomous driving system 300 in aheterogeneous SD map and HD map environment according to an embodimentof the present invention includes a service platform 310 and anautonomous vehicle 330.

The functions of the service platform 310, the autonomous vehicle 330, acall SW 350, and an operation SW 370 illustrated in FIG. 3 are almostthe same as the functions of the service platform 110, the autonomousvehicle 130, the call SW 150, and the operation SW 170, and thus onlydifferences therebetween will be described here.

The service platform 110 shown in FIG. 1 provides the SD map 111, thatis, a SD map that does not match the HD map 133 installed in theautonomous vehicle 130 but enables a user to select a start point and adestination therethrough, to the user, whereas the service platform 310shown in FIG. 3 provides a SD map (not shown) provided by a navigationsystem A 390 rather than the SD map 311 stored in the service platform310 to the user through a server 312. Accordingly, when the user inputsa start point and a destination using the call SW 350, the navigationsystem A 390 may generate TBT according to a preset program. The serviceplatform 310 transmits the TBT generated by the navigation system A 390and the start point and destination input by the user to the autonomousvehicle 330.

The navigation system A 390 may transmit information on a required timeduration according to the start point and destination input by the userto the call SW 350 or the operation SW 370.

The autonomous vehicle 330 generates a global path using the startpoint, destination, and TBT received from the service platform 310 andgenerates a local path using the generated global path.

FIG. 4 illustrates an embodiment of a method for operating theautonomous driving system in a heterogeneous SD map and HD mapenvironment shown in FIG. 3 .

Referring to FIG. 4 , the method for operating the autonomous drivingsystem includes a step 410 in which, when a user accesses the serviceplatform 310 through the call SW 350, the service platform 310 providesa SD map, that does not match the HD map 333, to the user using thenavigation system A 390 through the call SW 350. The method furtherincludes a step 420 in which the user inputs a start point and adestination using the SD map provided by the navigation system A 390using the call SW 350, a step 430 in which navigation system A 390generates TBT using the start point and destination input by the user, astep 440-1 in which the navigation system A 390 transmits the startpoint, the destination and the TBT to the service platform 310, a step440-2 in which the service platform 310 transmits the start point, thedestination, and the TBT received from the navigation system A 390 tothe autonomous vehicle 330, a step 450 in which the autonomous vehicle330 generates a global path using the start point, the destination, andthe TBT received from the service platform 310, and the matching-basedSD map 332 stored therein and generates a local path matching the globalpath using the HD map 333, and a step 460 in which the autonomousvehicle travels along the local path.

In the embodiment illustrated in FIGS. 1 and 2 , when a global path or alocal path is generated using a start point and a destination, TBT israndomly generated by the autonomous vehicle 330. On the other hand, inthe embodiment illustrated in FIGS. 3 and 4 , when the autonomousvehicle 330 generates a global path and a local path using thematching-based SD map 332 and the HD map 333, TBT generated by thenavigation system A 390 must be reflected in generation of the globalpath and the local path.

The navigation system A 390 shown in FIGS. 3 and 4 includes a Naver mapinformation service, a T map, or the like.

In some embodiments of the present invention, the navigation system A390 separate from the service platform or the autonomous vehiclegenerates TBT included in a global path or a local path from a startpoint to a destination, and the autonomous vehicle generates a finalglobal path and local path, and thus a global path and a local path canbe generated even when the properties of a SD map used for a user toinput the start point and the destination do not match those of a HD mapinstalled in the autonomous vehicle.

The autonomous driving systems 100 and 300 shown in FIGS. 1 and 3 can bedistinguished according to whether the service platforms 110 and 310utilize the navigation system A 390, and they are implemented and usedas separate systems in SD. When the systems are distinguished from eachother, a user may or may not be able to directly input TBT depending onthe system used by the user.

However, if there is an autonomous driving system in which theautonomous driving systems shown in FIGS. 1 and 3 are combined, as willbe described below, the service platform and the method for operatingthe autonomous vehicle may be changed depending on situations.

FIG. 5 illustrates another embodiment of a method for operating anautonomous driving system in a heterogeneous SD map and HD mapenvironment according to an embodiment of the present invention.

Referring to FIG. 5 , a method 500 for operating an autonomous drivingsystem in a heterogeneous SD map and HD map environment according to anembodiment of the present invention includes a step 510 in which a useraccesses a service platform through a call SW and inputs a start pointand a destination, a step 520 of determining whether the navigationsystem A can generate TBT, a step 530 in which the autonomous vehiclegenerates a global path and a local path upon determining thatnavigation system A cannot generate TBT (No in step 520), a step 540 inwhich the navigation system A generates TBT upon determining that thenavigation system A can generate the TBT (Yes in step 520), a step 550in which the autonomous vehicle generates a global path and a local pathusing the TBT generated by the navigation system A, a step 560 ofperforming autonomous driving along the local path generated by theautonomous vehicle, and a step 570 of determining whether it isnecessary to re-search a path during autonomous driving.

A step 520 of determining whether the navigation system A can generateTBT is performed upon determining that re-search is necessary (Yes instep 570), and the step of operating the autonomous vehicle is performedupon determining that re-search is not necessary (No in step 570).

As described above, it can be ascertained that, when there is anautonomous driving system (not shown) in which the two autonomousdriving systems shown in FIGS. 1 and 3 are combined, it is possible toselect whether TBT is generated by the navigation system A or theautonomous vehicle according to whether the navigation system A 390 isapplicable in the method 500 for operating the autonomous driving systemshown in FIG. 5 .

In FIG. 5 , in some embodiments, a global path 1 is a global pathreflecting TBT arbitrarily generated by the autonomous vehicle, and aglobal path 2 is a global path reflecting TBT provided by the navigationsystem A in the autonomous vehicle.

FIG. 6 illustrates an embodiment of traveling direction changeinformation.

FIG. 6(a) shows an example of a global path generated using only a startpoint and a destination input by a user, and FIG. 6(b) shows an exampleof a global path generated using TBT generated by navigation system A inaddition to the start point and the destination.

Referring to FIG. 6(a), it can be ascertained that a plurality of globalpaths (a dotted-line path 1 and a dashed-dotted line path 2) isgenerated since the autonomous vehicle generates a global path usingonly a start point and a destination.

Referring to FIG. 6(b), it can be ascertained that a single global pathin which TBT (TBT1 and TBT2) has been reflected can be set since theautonomous vehicle needs to generate a global path (a dashed-dotted linepath 3) using the TBT (TBT1 and TBT2) generated by the navigation systemA 390 in addition to the start point and the destination.

The embodiments of present invention described above can be implementedas computer-readable code on a medium in which a program is recorded.Computer-readable media include all types of recording devices in whichdata readable by a computer system is stored. Examples ofcomputer-readable media include a hard disk drive (HDD), a solid statedrive (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, amagnetic tape, a floppy disk, an optical data storage device, etc.

The above detailed description is therefore to be construed in allaspects as illustrative and not restrictive. The scope of the inventionshould be determined by the appended claims and their legal equivalents,not by the above description, and all changes coming within the meaningand equivalency range of the appended claims are intended to be embracedtherein.

What is claimed is:
 1. A driving system comprising: an vehicle; and aservice platform configured to transmit a start point and a destinationinput by a user through a first standard definition (SD) map to thevehicle, wherein the vehicle is configured to: generate a global path byuse of the start point, the destination, and a second SD map accordingto a preset program, generate a local path matching the global path byuse of a high definition (HD) map stored in the vehicle, andautonomously drive the local path, and wherein the first SD map is a maphaving properties that do not match properties of the HD map, and thesecond SD map is a map having properties matching the properties of theHD map.
 2. The driving system according to claim 1, wherein the globalpath includes turn-by-turn (TBT) guidance between the start point andthe destination.
 3. The driving system according to claim 1, wherein thevehicle is configured to transmit at least one of a current location ofthe vehicle, a time duration required to arrive at the destination andthe TBT guidance to the service platform.
 4. The driving systemaccording to claim 3, wherein the service platform is configured toprovide the at least one of the current location of the vehicle, thetime duration required to arrive at the destination, and the TBTguidance to the user according to the first SD map.
 5. The drivingsystem according to claim 1, wherein the second SD map is stored in thevehicle.
 6. The driving system according to claim 1, wherein the firstSD map provided by a navigation system to the user.
 7. The drivingsystem according to claim 6, wherein the navigation system is configuredto: receive the start point and the destination input by the user,generate turn-by-turn (TBT) guidance between the start point and thedestination, and transmit the start point, destination, and TBT guidanceto the service platform.
 8. A method including: inputting, by a user, astart point and a destination by use of a first SD map provided by aservice platform; transmitting, by the service platform, the start pointand the destination to an autonomous vehicle; generating a global path,by the autonomous vehicle, by use of the start point, the destination,and a second SD map stored in the autonomous vehicle according to apreset program and generating a local path by use of the generatedglobal path and a high definition (HD) map stored in the autonomousvehicle; operating the autonomous vehicle along the local path; andwherein the global path includes a turn-by-turn (TBT) guidance betweenthe start point and the destination, the first SD map is a map havingproperties that do not match properties of the HD map, and the second SDmap is a map having properties matching the properties of the HD map. 9.The method according to claim 8, further including transmitting, by theautonomous vehicle, at least one of a current location of the autonomousvehicle, a time duration required to arrive at the destination, and theTBT guidance to the service platform.
 10. The method according to claim8, further including providing, by the service platform, the at leastone of the current location of the autonomous vehicle, the time durationrequired to reach the destination, and the TBT guidance to the useraccording to the first SD map.
 11. The driving system according to claim1, wherein the first SD map received from an external navigation systemand provided to the user, and wherein the external navigation system isa navigation system different from a navigation system built in theautonomous vehicle.
 12. The autonomous driving system according to claim11, wherein the autonomous vehicle transmits at least one of a currentlocation of the autonomous vehicle, a time duration required to arriveat the destination, and a TBT guidance to the service platform, and theservice platform provides the at least one of the current location ofthe autonomous vehicle, the time duration required to reach thedestination, and the TBT guidance to the user according to the first SDmap.
 13. A method for operating an autonomous driving system, the methodincluding: inputting, by a user, a start point and a destination by useof a first SD map received by a service platform from an externalnavigation system and provided; generating, by the navigation system, aturn-by-turn (TBT) guidance by use of the start point and thedestination and transmitting the start point, the destination, and theTBT guidance to the service platform; transmitting, by the serviceplatform, the start point, the destination, and the TBT guidance to anautonomous vehicle; and generating, by the autonomous vehicle, a globalpath by use of the start point, the destination, the TBT guidance, and asecond SD map stored in the autonomous vehicle according to a presetprogram and generating a local path by use of the global path and a HDmap stored in the autonomous vehicle, wherein the first SD map is a maphaving properties that do not match properties of the HD map, the secondSD map is a map having properties matching properties of the HD map, andthe external navigation system is a navigation system different from anavigation system built in the autonomous vehicle.
 14. The methodaccording to claim 13, further including transmitting, by the autonomousvehicle, at least one of a current location of the autonomous vehicle, atime duration required to reach the destination, and the TBT guidance tothe service platform.
 15. The method according to claim 14, wherein theservice platform provides the at least one of the current location ofthe autonomous vehicle, the time duration required to reach thedestination, and the TBT guidance received from the autonomous vehicleto the user according to the first SD map.
 16. A method for operating anautonomous driving system, the method including: accessing, by a user, aservice platform through a call software (SW); determining whether anavigation system is able to generate a TBT guidance; generating, by anautonomous vehicle, a first global path including the TBT guidance and afirst local path matching the first global path upon determining thatthe navigation system is not able to generate the TBT guidance;generating, by the navigation system, the TBT guidance; generating, bythe autonomous vehicle, a second global path including the TBT guidanceand a second local path matching the second global path upon determiningthat the navigation system is able to generate the TBT guidance; andoperating the autonomous vehicle along the first local path or thesecond local path.
 17. The method according to claim 16, furtherincluding determining whether a path re-search is necessary duringoperation of the autonomous vehicle, wherein the determining of whetherthe navigation system is able to generate the TBT guidance is performedupon determining that the path re-search is necessary, and the operatingof the autonomous vehicle is performed upon determining that the pathre-search is not necessary.